imt-ring 1.6.31__py3-none-any.whl → 1.6.33__py3-none-any.whl

{imt_ring-1.6.31.dist-info → imt_ring-1.6.33.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.31
+Version: 1.6.33
 Summary: RING: Recurrent Inertial Graph-based Estimator
 Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
 Project-URL: Homepage, https://github.com/SimiPixel/ring

{imt_ring-1.6.31.dist-info → imt_ring-1.6.33.dist-info}/RECORD

@@ -6,7 +6,7 @@ ring/spatial.py,sha256=nmZ-UhRanhyM34bez8uCS4wMwaKqLkuEbgKGP5XNH60,2351
 ring/algorithms/__init__.py,sha256=IiK9EN5Xgs3dB075-A-H-Yad0Z7vzvKIJF2g6X_-C_8,1224
 ring/algorithms/_random.py,sha256=UMyv-VPZLcErrKqs0XB83QJjs8GrmoNsv-zRSxGXvnI,14490
 ring/algorithms/dynamics.py,sha256=dpe-F3Yq4sY2dY6DQW3v7TnPLRdxdkePtdbGPQIrijg,10997
-ring/algorithms/jcalc.py,sha256=St4hjp8LZYQg6TFFTqh7psAp1W2DvZwNe6NhXe8vrf0,35490
+ring/algorithms/jcalc.py,sha256=QafnCKa1mjEl7nL_KuadPJB5ebW31NKnkdcKn2YtSsM,36171
 ring/algorithms/kinematics.py,sha256=DOboHI517Vx0pRJUFZtZPmK_qFaiKiQe-37B-M0aC-c,7422
 ring/algorithms/sensors.py,sha256=0xOzdQIc1kBF0CkoPXWWCx3MmV4SG3wj7knVnnMWq9M,18124
 ring/algorithms/custom_joints/__init__.py,sha256=3pQ-Is_HBTQDkzESCNg9VfoP8wvseWmooryG8ERnu_A,366
@@ -15,8 +15,8 @@ ring/algorithms/custom_joints/rr_joint.py,sha256=jnRtjtOCALMaq2_0bcu2d7qgfQ6etXp
 ring/algorithms/custom_joints/rsaddle_joint.py,sha256=QoMo6NXdYgA9JygSzBvr0eCdd3qKhUgCrGPNO2Qdxko,1200
 ring/algorithms/custom_joints/suntay.py,sha256=tOEGM304XciHO4pmvxr4faA4xXVO4N2HlPdFmXKbcrw,16726
 ring/algorithms/generator/__init__.py,sha256=bF-CW3x2x-o6KWESKy-DuxzZPh3UNSjJb_MaAcSHGsQ,277
-ring/algorithms/generator/base.py,sha256=rrhHg6lFPDJs72kXvzF15v1vzkaUTKtCnpcmWZONYA8,16847
-ring/algorithms/generator/batch.py,sha256=9yFxVv11hij-fJXGPxA3zEh1bE2_jrZk0R7kyGaiM5c,2551
+ring/algorithms/generator/base.py,sha256=jGQocoNZ5tkiMazBDCv-jD6FNYwebqn0_RgVFse49pg,16890
+ring/algorithms/generator/batch.py,sha256=P51UnAZl9TUF_eVq58VL1CsmPPStPHhRDdKjUyvu4EA,2652
 ring/algorithms/generator/finalize_fns.py,sha256=nY2RKiLbHriTkdec94lc4UGSZKd0v547MDNn4dr8I3E,10398
 ring/algorithms/generator/motion_artifacts.py,sha256=2VJbldVDbI3PSyboshIbtYvSAKzBBwGV7cQfYjqvluM,9167
 ring/algorithms/generator/pd_control.py,sha256=XJ_Gd5AkIRh-jBrMfQyMXjVwhx2gCNHznjzFbmAwhZs,5767
@@ -78,7 +78,7 @@ ring/utils/backend.py,sha256=cKSi9sB59texqKzNVASTDczGKLCBL8VVDiP7TNdj41k,1294
 ring/utils/batchsize.py,sha256=FbOii7MDP4oPZd9GJOKehFatfnb6WZ0b9z349iZYs1A,1786
 ring/utils/colab.py,sha256=ZLHwP0jNQUsmZJU4l68a5djULPi6T-jYNNHevjIoMn8,1631
 ring/utils/dataloader.py,sha256=2CcsbUY2AZs8LraS5HTJXlEseuF-1gKmfyBkSsib-tE,3748
-ring/utils/dataloader_torch.py,sha256=wMKJ-eCJ4cHjisGODOZgDVG2r-XQjSANBQFfC05wpzo,2092
+ring/utils/dataloader_torch.py,sha256=bravdBqbkxxcQDieg6OnmArGwGcWpMI3MmNFwTCt0qg,3808
 ring/utils/hdf5.py,sha256=BzXwVypZmEZeHVgeGZ78YYdi10NEQtnPhdrb8dQAXo0,5856
 ring/utils/normalizer.py,sha256=67L2BU1MRsMT4pD41ta3JJMppLN0ozFmnwrmXDtnqrQ,1698
 ring/utils/path.py,sha256=zRPfxYNesvgefkddd26oar6f9433LkMGkhp9dF3rPUs,1926
@@ -86,7 +86,7 @@ ring/utils/randomize_sys.py,sha256=G_vBIo0OwQkXL2u0djwbaoaeb02C4LQCTNNloOYIU2M,3
 ring/utils/utils.py,sha256=tJaWXLGOTwkxJQj2l23dX97wO3aZYhM2qd7eNuMRs84,6907
 ring/utils/register_gym_envs/__init__.py,sha256=PtPIRBQJ16339xZ9G9VpvqrvcGbQ_Pk_SUz4tQPa9nQ,94
 ring/utils/register_gym_envs/saddle.py,sha256=tA5CyW_akSXyDm0xJ83CtOrUMVElH0f9vZtEDDJQalI,4422
-imt_ring-1.6.31.dist-info/METADATA,sha256=ISL0fShgxIGskumWa3mtqCBcOvOfEtJc4XE8Rt-EJCA,4251
-imt_ring-1.6.31.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
-imt_ring-1.6.31.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.6.31.dist-info/RECORD,,
+imt_ring-1.6.33.dist-info/METADATA,sha256=FYe4G7jx8u4IblPmrFrpnqCxL3Nv-ITa6LG9fVGaOng,4251
+imt_ring-1.6.33.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
+imt_ring-1.6.33.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.6.33.dist-info/RECORD,,

ring/algorithms/generator/base.py

@@ -213,6 +213,8 @@ class RCMG:
                 )
                 save_fn(d, file)
                 i += 1
+            # cleanup
+            del data
 
         gens, n_calls = self._generators_ncalls(sizes)
         batch.generators_eager(gens, n_calls, callback, seed, self._disable_tqdm)

ring/algorithms/generator/batch.py

@@ -1,3 +1,4 @@
+import gc
 from typing import Callable
 
 import jax
@@ -83,4 +84,8 @@ def generators_eager(
 
             sample_flat, _ = jax.tree_util.tree_flatten(sample)
             size = 1 if len(sample_flat) == 0 else sample_flat[0].shape[0]
-            callback([jax.tree_map(lambda a: a[i], sample) for i in range(size)])
+            callback([jax.tree_map(lambda a: a[i].copy(), sample) for i in range(size)])
+
+            # cleanup
+            del sample, sample_flat
+            gc.collect()

ring/algorithms/jcalc.py

@@ -412,6 +412,9 @@ def _find_interval(t: jax.Array, boundaries: jax.Array):
 def join_motionconfigs(
     configs: list[MotionConfig], boundaries: list[float]
 ) -> MotionConfig:
+    # to avoid a circular import due to `ring.utils.randomize_sys` importing `jcalc`
+    from ring.utils import tree_equal
+
     assert len(configs) == (
         len(boundaries) + 1
     ), "length of `boundaries` should be one less than length of `configs`"
@@ -434,10 +437,22 @@ def join_motionconfigs(
     time_independent_fields = [key for key in attrs if not is_time_dependent_field(key)]
 
     for time_dep_field in time_independent_fields:
-        field_values = set([getattr(config, time_dep_field) for config in configs])
-        assert (
-            len(field_values) == 1
-        ), f"MotionConfig.{time_dep_field}={field_values}. Should be one unique value.."
+        try:
+            field_values = set([getattr(config, time_dep_field) for config in configs])
+            assert (
+                len(field_values) == 1
+            ), f"MotionConfig.{time_dep_field}={field_values}. "
+            "Should be one unique value.."
+        except (
+            TypeError
+        ):  # dict is not hashable so test equality of all elements differently
+            comparison_ele = getattr(configs[0], time_dep_field)
+            for other_config in configs[1:]:
+                other_ele = getattr(other_config, time_dep_field)
+                assert tree_equal(
+                    comparison_ele, other_ele
+                ), f"MotionConfig.{time_dep_field} with {comparison_ele} != {other_ele}"
+                " Should be one unique value.."
 
     changes = {field: new_value(field) for field in time_dependent_fields}
     return replace(configs[0], **changes)

ring/utils/dataloader_torch.py

@@ -1,8 +1,9 @@
 import os
-from typing import Optional
+from typing import Any, Optional
 import warnings
 
 import jax
+import numpy as np
 import torch
 from torch.utils.data import DataLoader
 from torch.utils.data import Dataset
@@ -12,7 +13,7 @@ from ring.utils import parse_path
 from ring.utils import pickle_load
 
 
-class FolderOfPickleFilesDataset(Dataset):
+class FolderOfFilesDataset(Dataset):
     def __init__(self, path, transform=None):
         self.files = self.listdir(path)
         self.transform = transform
@@ -22,7 +23,7 @@ class FolderOfPickleFilesDataset(Dataset):
         return self.N
 
     def __getitem__(self, idx: int):
-        element = pickle_load(self.files[idx])
+        element = self._load_file(self.files[idx])
         if self.transform is not None:
             element = self.transform(element)
         return element
@@ -31,6 +32,10 @@ class FolderOfPickleFilesDataset(Dataset):
     def listdir(path: str) -> list:
         return [parse_path(path, file) for file in os.listdir(path)]
 
+    @staticmethod
+    def _load_file(file_path: str) -> Any:
+        return pickle_load(file_path)
+
 
 def dataset_to_generator(
     dataset: Dataset,
@@ -84,3 +89,60 @@ def _get_number_of_logical_cores() -> int:
         )
         N = 0
     return N
+
+
+class MultiDataset(Dataset):
+    def __init__(self, datasets, transform=None):
+        """
+        Args:
+            datasets: A list of datasets to sample from.
+            transform: A function that takes N items (one from each dataset) and combines them.
+        """  # noqa: E501
+        self.datasets = datasets
+        self.transform = transform
+
+    def __len__(self):
+        # Length is defined by the smallest dataset in the list
+        return min(len(ds) for ds in self.datasets)
+
+    def __getitem__(self, idx):
+        sampled_items = [ds[idx] for ds in self.datasets]
+
+        if self.transform:
+            # Apply the transformation to all sampled items
+            return self.transform(*sampled_items)
+
+        return tuple(sampled_items)
+
+
+class ShuffledDataset(Dataset):
+    def __init__(self, dataset):
+        """
+        Wrapper that shuffles the dataset indices once.
+
+        Args:
+            dataset (Dataset): The original dataset to shuffle.
+        """
+        self.dataset = dataset
+        self.shuffled_indices = np.random.permutation(
+            len(dataset)
+        )  # Shuffle indices once
+
+    def __len__(self):
+        return len(self.dataset)
+
+    def __getitem__(self, idx):
+        """
+        Returns the data at the shuffled index.
+
+        Args:
+            idx (int): Index in the shuffled dataset.
+        """
+        original_idx = self.shuffled_indices[idx]
+        return self.dataset[original_idx]
+
+
+def dataset_to_Xy(ds: Dataset):
+    return dataset_to_generator(ds, batch_size=len(ds), shuffle=False, num_workers=0)(
+        None
+    )